CN104044629A - Steering system for an autonomously driven vehicle and methods of steering the same - Google Patents

Steering system for an autonomously driven vehicle and methods of steering the same Download PDF

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Publication number
CN104044629A
CN104044629A CN201410094162.6A CN201410094162A CN104044629A CN 104044629 A CN104044629 A CN 104044629A CN 201410094162 A CN201410094162 A CN 201410094162A CN 104044629 A CN104044629 A CN 104044629A
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CN
China
Prior art keywords
assembly
controller
turn
bearing circle
steering
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201410094162.6A
Other languages
Chinese (zh)
Other versions
CN104044629B (en
Inventor
K.L.罗索尔
D.M.西德罗斯基
R.W.勒舒克
S.R.科洛斯
J.T.祖泽尔斯基
E.L.拉斐尔
Y-C.唐
S.R.帕斯特
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GM Global Technology Operations LLC
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GM Global Technology Operations LLC
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Publication date
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Publication of CN104044629A publication Critical patent/CN104044629A/en
Application granted granted Critical
Publication of CN104044629B publication Critical patent/CN104044629B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/001—Mechanical components or aspects of steer-by-wire systems, not otherwise provided for in this maingroup
    • B62D5/003—Backup systems, e.g. for manual steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
    • B62D5/30—Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/148—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering provided with safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

A steering system for an autonomously driven vehicle and methods of steering the vehicle are disclosed. A main controller signals a secondary steering assembly to operate in a first phase when a power steering controller is in a first mode and a second phase to steer the vehicle when the power steering controller is in a second mode. The main controller signals a friction device to actuate to a disengaged position when the power steering controller is in the first mode and the secondary steering assembly is in the first phase, and to signal the friction device to actuate to an engaged position to secure a steering wheel in an initial position when the power steering controller is in the second mode and the secondary steering assembly is in the second phase to allow the secondary steering assembly to steer the vehicle.

Description

Steering swivel system and the method for allowing it turn to for autonomous land vehicle
Technical field
The present invention relates to the method for steering swivel system and the manipulation autonomous land vehicle of autonomous land vehicle (autonomously driven vehicle).
Background technology
Autonomous land vehicle is developed, and take and as vehicle provides navigation, does not drive when having human operators allow Vehicular turn.Various parts (for example vision sensor) are developed, and with along road guiding autonomous land vehicle, identify vehicle around and vehicle is remained in its route.
Summary of the invention
The invention provides a kind of steering swivel system for autonomous land vehicle.Steering swivel system comprises the main assembly that turns to, and master turns to assembly to comprise rotatable bearing circle.Steering swivel system also comprises with main and turns to assembly to communicate by letter and have the power steering controller of first mode and the second pattern.Steering swivel system further comprises the master controller of communicating by letter with power steering controller.Steering swivel system also comprises the inferior assembly that turns to of communicating by letter with master controller, thereby master controller to the inferior assembly transmitted signal that turns to operate in first stage during in first mode at power steering controller, with power steering controller during in the second pattern in subordinate phase, to allow Vehicular turn.And then steering swivel system comprises being connected to leads the friction gear that turns to assembly.Friction gear is to discharge the main assembly that turns to movable bearing circle is fixed between the engage position of original position to allow the disengaged position of bearing circle rotation and to engage the main assembly that turns to.Master controller is communicated by letter with friction gear with to friction gear transmitted signal, to be in first mode at power steering controller and inferiorly to turn to assembly to be in first stage to actuate constantly disengaged position, with to friction gear transmitted signal to be in the second pattern at power steering controller and inferiorly to actuate engage position so that bearing circle is fixed on to original position while turning to assembly to be in subordinate phase, to allow time turning to assembly by Vehicular turn.
The present invention also provides a kind of method of controlling autonomous land vehicle.Method comprises to be determined power steering controller in first mode and is different from the second pattern of first mode.Master controller sends signal and shows that power steering controller is in first mode.In response to the power steering controller in first mode, via master controller to the inferior assembly transmitted signal that turns to operate in first stage, thereby main turn to assembly by Vehicular turn.In response to the power steering controller in first mode, via master controller to friction gear transmitted signal to operate in disengaged position, thereby main turn to the bearing circle of assembly rotatable.Master controller sends signal and shows that power steering controller is in the second pattern.In response to the power steering controller in the second pattern, via master controller to the inferior assembly transmitted signal that turns to switch to and to operate in subordinate phase from first stage, thereby the inferior assembly that turns to is by Vehicular turn.In response to the power steering controller in the second pattern, friction gear is actuated engage position from disengaged position.At friction gear, in engage position master so that bearing circle is fixed on to original position, turn to assembly to engage with friction gear, thereby the inferior assembly that turns to allow Vehicular turn when in subordinate phase.
The invention provides the other method of controlling autonomous land vehicle.While occurring to interrupt in the master of vehicle turns to assembly, the inferior assembly that turns to operates in subordinate phase to allow Vehicular turn.Inferior turn to assembly in subordinate phase when allowing Vehicular turn, the main assembly that turns to engages friction gear, so that bearing circle is fixed on to original position.
Thereby this steering swivel system provides and is used in the stand-by system that turns to assembly for the master of autonomous land vehicle, it allows time to turn to assembly by Vehicular turn certain in the situation that, for example, and main while occurring to interrupt in turning to assembly.For example, the inferior assembly that turns to will rotate the rear wheel of vehicle, and to allow Vehicular turn, and friction gear is fixed on original position by bearing circle, thereby front vehicle wheel does not rotate.
Detailed description in accompanying drawing and demonstration are to support of the present invention and description, and scope of the present invention only limits by claim.But although to carrying out better model of the present invention, carried out detailed description those skilled in the art and can learn that being used in the scope of appended claim implement many replacement design and implementations example of the present invention.
Accompanying drawing explanation
Fig. 1 is the schematic plan for the steering swivel system of autonomous land vehicle.
Fig. 2 is the main perspective schematic view that turns to assembly.
Fig. 3 allows the indicative flowchart of method of Vehicular turn of Fig. 1 and 2.
Fig. 4 allows the indicative flowchart of method of Vehicular turn of Fig. 1 and 2.
The specific embodiment
Referring to accompanying drawing, wherein in a few width figure of identical Reference numeral, indicate identical parts, Fig. 1 has shown the steering swivel system 10 for autonomous land vehicle 12.And then as shown in Figures 3 and 4, the present invention also provides the method 1000,2000 that allows autonomous land vehicle 12 turn to, it will be described below.Specifically, disclosed hereinly allow steering swivel system 10 and the method 1000,2000 that vehicle 12 turns to certain in the situation that, be provided for the main stand-by system turning to of vehicle 12.For example, this stand-by system can turn to while interrupting (interruption) and enable the master of vehicle 12.
Conventionally, autonomous land vehicle 12 can move and stop along road, street etc., and by people or the people in driver's seat, is not controlled or turn to.In other words, destination can be transfused to or be programmed in the computing machine of autonomous land vehicle 12 and vehicle 12 will make itself to travel and reach desired locations along road (one or more) etc., and does not need human operators manually to allow vehicle 12 turn to.Should be understood that various sensors, controller etc. can be used for autonomous land vehicle 12 to remain in the expectation route on road.
Referring to Fig. 1 and 2, steering swivel system 10 comprises the main assembly 14 that turns to.The main assembly 14 that turns to turns to or guides vehicle 12 along road (one or more) etc., to reach desired locations.The main assembly 14 that turns to can comprise that some in many parts and these parts are below describing.For example, master turns to assembly 14 to comprise rotatable bearing circle 16.Thereby bearing circle 16 can be around longitudinal axis 18 rotations.Conventionally, bearing circle 16 is used for allowing non-autonomous land vehicle turn to by driver.In certain situation, as mentioned below described herein, the bearing circle 16 of autonomous land vehicle 12 described herein can be grasped, manually to allow vehicle 12 turn to.For example, bearing circle 16 can be contacted or grasp by driver, for example, manually to allow in some cases vehicle 12 turn to, when the master of vehicle 12 turns to interruption, as mentioned below.
Forward Fig. 2 to, master turns to assembly 14 can comprise rotatable Steering gear 20.Thereby Steering gear 20 can be around longitudinal axis 18 rotations.Conventionally, thus bearing circle 16 is attached to Steering gear 20 bearing circle 16 and Steering gear 20 rotates jointly.Therefore, the rotation of in bearing circle 16 and Steering gear 20 causes another rotation in bearing circle 16 and Steering gear 20.In other words, bearing circle 16 and Steering gear 20 as one man rotate.Alternatively, Steering gear 20 can be to tilt and/or flexible Steering gear 20.Thereby Steering gear 20 can tilt with respect to driver's seat, for example up and down, so that bearing circle 16 is positioned to desired locations.And then Steering gear 20 can be flexible with respect to driver's seat, for example flexible back and forth, so that bearing circle 16 is positioned to desired locations.
Conventionally, Steering gear 20 can comprise the support 22 that is connected to vehicle 12, to support Steering gear 20.In other words, support 22 is attached or be installed to vehicle 12 and support Steering gear 20, thereby Steering gear 20 can be independent of support 22 rotations.For example, in certain embodiments, Steering gear 20 can be with respect to support 22.Tilt and/or stretch.Should be understood that Steering gear 20 can comprise not at the specifically described miscellaneous part of this paper.
Continuation is with reference to figure 2, the main tween drive shaft 24 that turns to assembly 14 to comprise to be operatively connected to Steering gear 20, thus tween drive shaft 24 and Steering gear 20 rotate jointly.In other words, Steering gear 20 and tween drive shaft 24 as one man rotate.Therefore, bearing circle 16, Steering gear 20 and tween drive shaft 24 as one man rotate.Should be understood that tween drive shaft 24 can operatively be connected to Steering gear 20 by universal-joint 26 or any other suitable components (one or more).
In addition, continue with reference to figure 2, master turns to assembly 14 can comprise steering hardware 28, and it is operatively connected to tween drive shaft 24, and tween drive shaft 24 is arranged between steering hardware 28 and Steering gear 20.Tween drive shaft 24 can operatively be connected to steering hardware (steering gear mechanism) 28 by universal-joint 30 or any other suitable components (one or more).Therefore, for example, the far-end of tween drive shaft 24 has universal-joint 26,30.Steering hardware 28 will further describe later.
Forward Fig. 1 to, steering swivel system 10 also comprises with main and turns to assembly 14 to communicate by letter and have the power steering controller (power steering controller) 32 of first mode and the second pattern.Therefore, power steering controller 32 is connected to main assembly 14 and the main assembly 14 that turns to of monitoring of turning to.Conventionally, the first and second patterns differ from one another.For example, first mode can be main while turning to assembly 14 to be used in the first serviceability and the second pattern can be main while turning to assembly 14 to be used in the second serviceability.The first serviceability can be that vehicle 12 is in operation and driver while not grasping bearing circle 16.The second serviceability can be when vehicle 12 will be turned to by driver, for example, when the master of vehicle 12 turns to middle appearance to interrupt, for example mainly turns to the interruption in assembly 14.Further describe later the first and second serviceability.Alternatively, power steering controller 32 can be arranged in power steering module, and described power steering module is connected to the main assembly 14 that turns to.Power steering module can be equipped with other turning members, sensor for example, or not specifically described parts herein.
As schematically, as shown in Fig. 1, power steering controller 32 can be embodied as digital computer unit or a plurality of such device with the various component communications of vehicle 12.Structurally, power steering controller 32 can comprise at least one microprocessor 34 and enough non-volatile storages 36 of entity, such as read-only memory (ROM) memory device (ROM), flash memories, optical memory, extra magnetic storage etc.Power steering controller 32 also can comprise any required random access storage device (RAM), EPROM (EPROM), high-frequency clock, analog to digital (A/D) and/or digital-to-analog (D/A) circuit and any input/output circuitry or device and suitable signal modulation and buffer circuit.For carrying out, allow the instruction of the method 1000,2000 that vehicle 12 turns to be recorded in memory device 36 and to carry out as required via microprocessor (one or more) 34.
Steering swivel system 10 further comprises the master controller 38 of communicating by letter with power steering controller 32.As schematically, as shown in Fig. 1, master controller 38 can be embodied as digital computer unit or a plurality of such device with the various component communications of vehicle 12.Structurally, master controller 38 can comprise the non-volatile storage 42 of at least one microprocessor 40 and enough entity, such as read-only memory (ROM) memory device (ROM), flash memories, optical memory, extra magnetic storage etc.Master controller 38 also can comprise any required random access storage device (RAM), EPROM (EPROM), high-frequency clock, analog to digital (A/D) and/or digital-to-analog (D/A) circuit and any input/output circuitry or device and suitable signal modulation and buffer circuit.For carrying out, allow the instruction of the method 1000,2000 that vehicle 12 turns to be recorded in memory device 42 and to carry out as required via microprocessor (one or more) 40.Alternatively, master controller 38 can be arranged in controller module and miscellaneous part, sensor for example, or not specifically described parts can be arranged in controller module herein.
In addition, steering swivel system 10 comprises the inferior assembly 44 that turns to of communicating by letter with master controller 38, thereby master controller 38 sends signal to the inferior assembly 44 that turns to, to operate in first stage (first phase) and operate in subordinate phase when power steering controller 32 is in first mode when power steering controller 32 is in the second pattern, to allow vehicle 12 turn to.For example, thereby main while turning to assembly 14 to be used in the first serviceability vehicle 12 to be diverted when driver does not grasp bearing circle 16, inferior while turning to assembly 44 to be in first stage and power steering controller 32 to be in first mode, the inferior assembly 44 that turns to can be activated or actuate, to assist master to turn to assembly 14 to allow vehicle 12 turn to, or the inferior assembly 44 that turns to can be deactivated or not enable, thereby the inferior assembly 44 that turns to does not assist mainly to turn to assembly 14 to allow vehicle 12 turn to.Therefore, inferior while turning to assembly 44 to operate in first stage and power steering controller 32 in first mode, the main assembly 14 that turns to does not allow vehicle 12 turn in the situation that driver contacts bearing circle 16.
In certain embodiments, steering swivel system 10 can comprise and the inferior rear steering controller 45 that turns to assembly 44 to communicate by letter with master controller 38.Conventionally, the inferior assembly 44 that turns to is communicated by letter with master controller 38 by rear steering controller 45.Signal can be by 45 communications of rear steering controller to the inferior assembly 44 that turns to.As schematically, as shown in Fig. 1, rear steering controller 45 can be embodied as digital computer unit or a plurality of such device with the various component communications of vehicle 12.Structurally, rear steering controller 45 can comprise the non-volatile storage 49 of at least one microprocessor 47 and enough entity, such as read-only memory (ROM) memory device (ROM), flash memories, optical memory, extra magnetic storage etc.Rear steering controller 45 also can comprise any required random access storage device (RAM), EPROM (EPROM), high-frequency clock, analog to digital (A/D) and/or digital-to-analog (D/A) circuit and any input/output circuitry or device and suitable signal modulation and buffer circuit.For carrying out, allow the instruction of the method 1000,2000 that vehicle 12 turns to be recorded in memory device 49 and to carry out as required via microprocessor (one or more) 47.Alternatively, rear steering controller 45 can be arranged in controller module and miscellaneous part, sensor for example, or not specifically described parts can be arranged in controller module herein.
Master controller 38 to inferior assembly 44 transmitted signals that turn to make it in first stage when power steering controller 32 is in first mode, with to inferior assembly 44 transmitted signals that turn to make it in subordinate phase at power steering controller 32 during in the second pattern, to allow vehicle 12 turn to.Therefore, main, turn to assembly 14 to allow vehicle 12 turn to (under the first serviceability), inferiorly turn to assembly 44 to be deactivated or can not enable, to assist mainly to turn to assembly 14 to allow vehicle 12 turn to.In other words, master allows vehicle 12 turn to while turning to assembly 14 first not interrupt in master turns to assembly 14, and the inferior assembly 44 that turns to is assisted the main assembly 14 that turns to alternatively under this state.Thereby main while turning to assembly 14 to be interrupted (under the second serviceability), the inferior assembly 44 that turns to is taken over turning to and mainly turning to assembly 14 vehicle 12 not to be turned to vehicle 12.Therefore,, when master turns to assembly 14 to be used in the second serviceability, the inferior assembly 44 that turns to will allow vehicle 12 turn to until driver grasps bearing circle 16.
The inferior actuator 46 that turns to assembly 44 to comprise to communicate by letter with master controller 38.More specifically, rear steering controller 45 is communicated by letter with actuator 46.Therefore, actuator 46 is communicated by letter with master controller 38 by rear steering controller 45.Thereby actuator 46 is communicated by letter with rear steering controller 45, thus rear steering controller 45 to actuator 46 transmitted signals to operate in first stage and operate in subordinate phase when power steering controller 32 is in first mode when power steering controller 32 be in the second pattern.Master controller 38 can be to actuator 46 transmitted signals, and to operate in first stage when power steering controller 32 is in first mode, thereby actuator 46 is actuated to assist master to turn to assembly 14 to allow vehicle 12 turn to alternatively.And then master controller 38 can be to actuator 46 transmitted signals, to operate in subordinate phase when power steering controller 32 is in the second pattern, thereby actuator 46 is actuated to allow vehicle 12 turn to.In addition, as the certain condition further describing later under, master controller 38 can operate in first stage to turn back to actuator 46 transmitted signals.Actuator 46 can be electrical motor, electromechanical motor, hydraulic efficiency gear, pneumatics or any other suitable actuator.
Referring to Fig. 1 and 2, steering swivel system 10 also comprises being connected to leads the friction gear 48 that turns to assembly 14.Friction gear 48 is to discharge the main assembly 14 that turns to movable bearing circle 16 is fixed between the engage position of original position to allow the disengaged position of bearing circle 16 rotations and to engage the main assembly 14 that turns to.Master controller 38 is communicated by letter with friction gear 48 with to friction gear 48 transmitted signals, to be in first mode and the inferior disengaged position of actuating while turning to assembly 44 to be in first stage at power steering controller 32, with to friction gear 48 transmitted signals to be in the second pattern at power steering controller 32 and inferiorly to turn to assembly 44 to be in subordinate phase to actuate engage position when allowing time to turn to assembly 44 to allow vehicle 12 turn to, so that bearing circle 16 is fixed on to original position.Therefore,, when friction gear 48 is in disengaged position, bearing circle 16 can freely or without restriction rotate around longitudinal axis 18.And then when friction gear 48 is in engage position, bearing circle 16 is fixed on original position, thereby bearing circle 16 can not freely rotate, and therefore the rotation of bearing circle 16 is limited.Should be understood that by friction gear 48, being applied to the main power of assembly 14 or the amount of friction of turning to can be adjusted according to expectation adjustment or change.
As illustrated in fig. 1 and 2, friction gear 48 can be connected in various positions the main assembly 14 that turns to.For example, in one embodiment, friction gear 48 is connected to Steering gear 20, thereby friction gear 48 engages Steering gear 20 when in engage position, so that bearing circle 16 is fixed to original position.As another example, in one embodiment, friction gear 48 is connected to tween drive shaft 24, thereby friction gear 48 engages tween drive shaft 24 when in engage position, so that bearing circle 16 is fixed in original position.As another example, at an embodiment, friction gear 48 is connected to steering hardware 28, thereby friction gear 48 engages steering hardware when in engage position, so that bearing circle 16 is fixed on to original position.Conventionally, in one in above-mentioned position, a friction gear 48 is connected to the main assembly 14 that turns to.Should be understood that in one or more above-mentioned positions, more than one friction gear 48 can be connected to the main assembly 14 that turns to.And then, friction gear 48 is only schematically illustrated in Fig. 1 and 2 and can has any suitable constructions for the object of showing, the friction gear driving such as power-transfer clutch, energy disperser, magnetic devices, calutron, friction plate, brake equipment (such as brake clamp and rotor brake), driving band etc.
Continuation is with reference to figure 1, and master turns to assembly 14 can comprise main rack and pinion system 50, and it is operatively connected to steering hardware 28 and extends outwardly into reciprocal far-end.Conventionally, the first wheel 52 and the second wheel 54 are operatively connected to the respective distal end of main rack and pinion system 50.In other words, the first and second wheels 52,54 are operatively connected to main rack and pinion system 50.Therefore,, when 20 rotation of bearing circle 16 or Steering gear, correspondingly, main rack and pinion system 50 moves to allow the first and second wheel 52,54 pivotable or rotations, and allows vehicle 12 move along desired orientation.
And then steering hardware 28 can comprise electrical motor 56, with when power steering controller 32 is in first mode, in response to the rotation of bearing circle 16, assist to allow 50 motions of main rack and pinion system, to allow the first and second wheel 52,54 pivotables and allow vehicle 12 turn to.Therefore, electrical motor 56 is operatively connected to steering hardware 28 and main rack and pinion system 50, to assist to allow bearing circle 16 rotations.Thereby actuating of steering hardware 28 is actuated electrical motor 56, to assist to allow main rack and pinion system 50 motions, and allow thus the first and second wheel 52,54 corresponding sports.Conventionally, power steering controller 32 is communicated by letter with electrical motor 56; Thus, power steering controller 32 can be to electrical motor 56 transmitted signals, optionally to actuate.Thereby electrical motor 56 use act on the main power steering of assembly 14 that turns to and assist.
The inferior assembly 44 that turns to can comprise time rack and pinion system 58, and it extends outwardly into reciprocal far-end.Conventionally, the 3rd wheel 60 and the 4th wheel 62 are operatively connected to the respective distal end of time rack and pinion system 58.Actuator 46 is operatively connected to time rack and pinion system 58, thereby inferior while turning to assembly 44 to be in subordinate phase and power steering controller 32 to be in the second pattern, actuating of actuator 46 allows time rack and pinion system 58 move, to allow the third and fourth wheel 60,62 pivotables, to allow vehicle 12 turn to.In other words, when actuator 46 is actuated, inferior rack and pinion system 58 motions, to allow the third and fourth wheel 60,62 pivotable or rotations, to allow vehicle 12 turn to.Conventionally, the first and second wheels 52,54 are arranged near the front portion 64 of vehicle 12 and the third and fourth wheel 60,62 is arranged near the rear portion 66 of vehicle 12.For example, the main assembly 14 that turns to can allow the front vehicle wheel pivotable of the first and second wheels 52,54 or vehicle 12, and the inferior assembly 44 that turns to can allow the rear wheel pivotable of the third and fourth wheel 60,62 or vehicle 12.Therefore, be independent of allow the third and fourth wheel 60,62 pivotables time turn to assembly 44, mainly turn to assembly 14 for allowing the first and second wheel 52,54 pivotables.Similarly, be independent of and allow the master of the first and second wheel 52,54 pivotables turn to assembly 14, the inferior assembly that turns to is for allowing the third and fourth wheel 60,62 pivotables.Actuator 46 can be connected to vehicle 12 at any correct position, to cooperate with inferior rack and pinion system 58.Should be understood that and turn to assembly 44 to be connected to operably the third and fourth wheel 60,62 or rear wheel any suitable time, and to utilize time rack and pinion system 58 are suitable examples.
When friction gear 48 is in engage position and makes bearing circle 16 be fixed on original position and when actuator 46 starts or actuates, actuator 46 causes time rack and pinion system 58 to move back and forth, to allow vehicle 12 turn to.Owing to bearing circle 16 being actuated to carry out the moment of torsion of self-regulated, inferior, bearing circle 16 is remained on to the rotation that original position could prevent or minimize bearing circle 16 while turning to assembly 44 to operate in subordinate phase.Inferior while turning to assembly 44 that vehicle 12 is turned to by allowing front vehicle wheel self-regulated, the rotation of bearing circle 16 can be offset by time rack and pinion system 58 motion of the third and fourth wheels 60,62 (rear wheels); Therefore, bearing circle 16 is fixed on original position, so that such counteracting minimizes.Thereby when bearing circle 16 is fixed on original position, the action that this has simulated driver's maintenance or has grasped bearing circle 16.Thus, in the third and fourth wheel 60,62 (rear wheel) pivotables or rotation, the first and second wheels 52,54 (front vehicle wheel) when allowing vehicle 12 turn to remain on certain position.
Whether power steering controller 32 can detect master and turn to assembly 14 under the first or second serviceability, to work.Thereby power steering controller 32 shows to master controller 38 transmitted signals the main assembly 14 that turns to is in which the lower work of the first and second serviceability.For example, if power steering controller 32 detects electrical motor 56, do not actuate into the main rack and pinion system 50 of assistance and assist thus bearing circle 16, power steering controller 32 shows that to master controller 38 transmitted signals master turns to assembly 14 to operate in the second serviceability.Electrical motor 56 can be a part for the main steering hardware of vehicle 12, therefore, if power steering controller 32 detects the function of electrical motor 56, have interruption, power steering controller 32 will show that stand-by system is for allowing vehicle 12 turn to master controller 38 transmitted signals.The main steering hardware that should be understood that vehicle 12 can comprise one or more in electrical motor 56, main rack and pinion system 50, steering hardware 28, tween drive shaft 24 and Steering gear 20.Briefly, the main steering hardware of vehicle 12 generally includes the main assembly 14 that turns to.
Referring to Fig. 1, steering swivel system 10 can further comprise contact pickup 68, and it is connected to bearing circle 16 to detect the contact on bearing circle 16.Conventionally, contact pickup 68 is communicated by letter with master controller 38.Under certain conditions, contact pickup 68 is communicated by letter with master controller 38, thereby the contact on bearing circle 16 is to master controller 38 transmitted signals, for communication to the inferior assembly 44 that turns to switch and to get back to first stage from subordinate phase, with the friction gear 48 of communicating by letter to change to disengaged position from engage position to switchback.Briefly, when power steering controller 32 is in the second pattern, once driver's contact be detected on bearing circle 16, bearing circle 16 is not fixed on original position but the rotatable bearing circle 16 of driver, to allow vehicle 12 turn to.Should understand, if bearing circle 16 is touched, contact pickup 68 does not send to master controller 38 signal that shows this contact, by friction gear 48, be applied to master and turn to the friction of assembly 14 can be overcome by driver (override), thereby driver can allow vehicle 12 turn to.In other words, be applied to the main friction that turns to assembly 14 and bearing circle 16 can be fixed on to original position and also allow driver to overcome this friction and steering wheel rotation 16 simultaneously, to allow vehicle 12 turn to (if friction gear 48 still remains on engage position after bearing circle 16 has been touched).And then, conventionally, if friction gear 48 is not switched to disengaged position from engage position, again, by friction gear 48, is applied to master and turns to the friction of assembly 14 to be overcome by driver, thus driver's usable rotational direction dish 16, to allow vehicle 12 turn to.In addition, conventionally, if friction gear 48 remains on disengaged position rather than is switched to engage position when power steering controller 32 is in the second pattern, time turn to assembly 44 still will be switched to subordinate phase and allow vehicle 12 turn to; In this case, the inferior assembly 44 that turns to needs compensation the front vehicle wheel of self-regulated.
Continuation is with reference to figure 1, and steering swivel system 10 can further comprise the steering wheel controller 70 of communicating by letter with master controller 38 with contact pickup 68.Therefore, in certain embodiments, when power steering controller 32 is in the second pattern and contact detected on bearing circle 16, contact pickup 68 arrives steering wheel controller 70 by this contact communication, and steering wheel controller 70 shows that to master controller 38 contact has been touched sensor 68 and has detected.Therefore, contact pickup 68 and master controller 38 can directly communicate with one another as being shown in dotted line between them in Fig. 1, or contact pickup 68 and master controller 38 can communicate with one another by steering wheel controller 70, as in Fig. 1 from contact pickup 68 to steering wheel controller 70 and shown in the solid line of master controller 38.
As schematically, as shown in Fig. 1, steering wheel controller 70 can be embodied as digital computer unit or a plurality of such device with the various component communications of vehicle 12.Structurally, steering wheel controller 70 can comprise at least one microprocessor 72 and enough non-volatile storages 74 of entity, such as read-only memory (ROM) memory device (ROM), flash memories, optical memory, extra magnetic storage etc.Steering wheel controller 70 also can comprise any required random access storage device (RAM), EPROM (EPROM), high-frequency clock, analog to digital (A/D) and/or digital-to-analog (D/A) circuit and any input/output circuitry or device and suitable signal modulation and buffer circuit.For carrying out, allow the instruction of the method 1000,2000 that vehicle 12 turns to be recorded in memory device 74 and to carry out as required via microprocessor (one or more) 72.Alternatively, steering wheel controller 70 can be arranged in bearing circle module and miscellaneous part, sensor for example, or not specifically described parts can be arranged in bearing circle module herein.
In addition, steering swivel system 10 can comprise the brake system 76 of communicating by letter with master controller 38.More specifically, brake system 76 can comprise the brake controller 78 of communicating by letter with master controller 38.Brake system 76 can further comprise the brake equipment 80 of communicating by letter with master controller 38.More specifically, brake controller 78 can be communicated by letter with brake equipment 80 with master controller 38.In other words, brake equipment 80 can be communicated by letter with master controller 38 by brake controller 78.
As schematically, as shown in Fig. 1, brake controller 78 can be embodied as digital computer unit or a plurality of such device with the various component communications of vehicle 12.Structurally, brake controller 78 can comprise at least one microprocessor 82 and enough non-volatile storages 84 of entity, such as read-only memory (ROM) memory device (ROM), flash memories, optical memory, extra magnetic storage etc.Brake controller 78 also can comprise any required random access storage device (RAM), EPROM (EPROM), high-frequency clock, analog to digital (A/D) and/or digital-to-analog (D/A) circuit and any input/output circuitry or device and suitable signal modulation and buffer circuit.For carrying out, allow the instruction of the method 1000,2000 that vehicle 12 turns to be recorded in memory device 84 and to carry out as required via microprocessor (one or more) 82.Should be understood that actuator 46 can pass through rear steering controller 45 and for example, communicate by letter with master controller 38 with another module or controller (brake module or brake controller 78), as represented to the dotted line of brake controller 78 from rear steering controller 45.Therefore, for example, master controller 38 can be communicated by letter with brake controller 78, to be provided to the instruction of actuator 46.
Conventionally, when power steering controller 32 is in first mode, brake equipment 80 may operate at for the first deboost phase so that vehicle 12 is braked.For example, main while turning to assembly 14 to be operated in the first serviceability vehicle 12 to turn in the situation that bearing circle 16 is not grasped by driver, brake equipment 80 operated in for the first deboost phase, with the motion of stop vehicle 12, allow vehicle 12 slow down and prevent vehicle 12 motions, thereby.Therefore,, when brake equipment 80 operated in for the first deboost phase, mainly in the situation that driver does not contact bearing circle 16 turn to assembly 14 to allow vehicle 12 turn to.
Alternatively, when power steering controller 32 is in the second pattern, brake equipment 80 may operate at for the second deboost phase, to assist turning to of vehicle 12.And then, for example, thus main while turning to assembly 14 workstation the second serviceability vehicles 12 to be turned to by driver, brake equipment 80 may operate at the second deboost phase with assist vehicle 12 turn to or along road guided vehicle 12.Specifically, inferior, while turning to assembly 44 to allow vehicle 12 turn under subordinate phase, brake equipment 80 can be stablized the motion of vehicle 12 or adjust the motion of vehicle 12.Briefly, when the master of vehicle 12 turns to assembly 14 to interrupt, inferior assembly 44 and the brake equipment 80 of turning to can cooperate to allow vehicle 12 turn to.Master controller 38 is communicated by letter with brake controller 78, to show to brake controller 78 transmitted signals which deboost phase brake equipment 80 should operate in.Therefore, brake controller 78 in response to master controller 38 to brake equipment 80 transmitted signals to operate in the first and second deboost phases.
Forward Fig. 1 to, brake equipment 80 can comprise the first drg 86 that is operatively connected to the first wheel 52 and the second brake 88 that is operatively connected to the second wheel 54.And then brake equipment 80 also can comprise the 3rd drg 90 that is operatively connected to the 3rd wheel 60 and the 4th drg 92 that is operatively connected to the 4th wheel 62.Should be understood that and can use for the vehicle 12 that there is main and secondary and turn to assembly 14,44 wheel 52,54,60,62 of any suitable quantity.For example, the first and second wheels 52,54 can be the front vehicle wheels of 3 or 4 wheeled vehicles 12, and master turns to assembly 14 to be operatively connected to front vehicle wheel.As another example, the first wheel 52 can be front vehicle wheel, main turns to assembly 14 to be operatively connected to front vehicle wheel, and the second wheel 54 can be the rear wheel of 2 or 3 wheeled vehicles 12, and the inferior assembly 44 that turns to is operatively connected to rear wheel (one or more).As another example, the third and fourth wheel 60,62 can be the rear wheel of 3 or 4 wheeled vehicles 12, and the inferior assembly 44 that turns to is operatively connected to rear wheel.
And then, brake system 76 can comprise the first sensor 94 of communicating by letter with brake controller 78 with the first drg 86 of the first wheel 52, for be in the second deboost phase and inferior first drg 86 of optionally actuating while turning to assembly 44 to allow vehicle 12 turn under subordinate phase at brake equipment 80.In addition, brake system 76 can comprise second sensor 96 of communicating by letter with brake controller 78 with the second brake 88 of the second wheel 54, for be in the second deboost phase and the inferior second brake 88 of optionally actuating while turning to assembly 44 to allow vehicle 12 turn under subordinate phase at brake equipment 80.Therefore, each communicates by letter the first and second sensors 94,96 with brake controller 78, thus brake controller 78 to the first and/or second sensor 94,96 transmitted signals show first and/or second brake 86,88 which will be actuated.Thereby when brake equipment 80 was in for the second deboost phase, master turns to assembly 14 to be operated in the second serviceability, thereby being in the inferior of subordinate phase, vehicle 12 turn to assembly 44 to turn to, until driver grasps bearing circle 16, as mentioned below.Therefore, alternatively, one of in the first and second sensors 94,96 or both can communicate by letter with the first and second drgs 86,88, optionally to actuate, to assist being in the inferior of subordinate phase, turn to assembly 44 to allow vehicle 12 along road turning, until driver grasps bearing circle 16.Should be understood that the first and second sensors 94,96 also can be used as anti-lock brake sensor, to allow that vehicle 12 slows down when sliding on ice etc.
In addition, brake system 76 can comprise the 3rd sensor 98 of communicating by letter with brake controller 78 with the 3rd drg 90 of the 3rd wheel 60, for be in the second deboost phase and inferior the 3rd drg 90 of optionally actuating while turning to assembly 44 to allow vehicle 12 turn under subordinate phase at brake equipment 80.Brake system 76 can further comprise the four-sensor 100 of communicating by letter with brake controller 78 with the 4th drg 92 of the 4th wheel 62, for be in the second deboost phase and inferior the 4th drg 92 of optionally actuating while turning to assembly 44 to allow vehicle 12 turn under subordinate phase at brake equipment 80.Therefore, each communicates by letter the third and fourth sensor 98,100 with brake controller 78, thus brake controller 78 to the 3rd and/or four-sensor 98,100 transmitted signals show the 3rd and/or the 4th drg 90,92 which should be actuated.Thereby when brake equipment 80 was in for the second deboost phase, master turns to assembly 14 to be operated in the second serviceability, thereby being in the inferior of subordinate phase, vehicle 12 turn to assembly 44 to turn to, until driver grasps bearing circle 16, as mentioned above.Therefore, alternatively, first with one of in four-sensor 98,100 or both can communicate by letter with the third and fourth drg 90,92, optionally to actuate, to assist being in the inferior of subordinate phase, turn to assembly 44 to turn to by vehicle 12 along road, until driver grasps bearing circle 16.Should be understood that the third and fourth sensor 98,100 also can be used as anti-lock brake sensor, with the vehicle 12 that slows down when for example sliding on ice.Alternatively, brake controller 78 and/or first, second, third and four-sensor 94,96,98,100 can be arranged in brake module.Should also be understood that other brake components (for example sensor) or herein not specifically described parts can be arranged in brake module.
Brake controller 78 can to first, second, third and four-sensor 94,96,98,100 at least one transmitted signal, to actuate the corresponding first, second, third and the 4th drg 86,88,90,92 when brake equipment 80 was in for the second deboost phase, to assist time turning to assembly 44 to allow vehicle 12 turn to when the subordinate phase.In other words, when first sensor 94 is sent out signal, the first drg 86 is actuated, and when the second sensor 96 is sent out signal, second brake 88 is actuated etc.At friction gear 48 when thereby engage position bearing circle 16 is fixed on original position, and during one or more being actuated in the first, second, third and the 4th drg 86,88,90,92, form or produce one or more yawing moments, to assist allowing vehicle 12 turn to when in the second deboost phase.In other words, one or more drg moment of torsion yawing moments can produce by brake system 76, to assist turning to of vehicle 12 when brake equipment 80 was in for the second deboost phase.Because actuation direction dish 16 carries out the existence of the moment of torsion of self-regulated, bearing circle 16 is remained on to the rotation that original position could prevent or minimize bearing circle 16 when brake equipment 80 was in for the second deboost phase.When brake equipment 80 was in for the second deboost phase, by allowing front vehicle wheel self-regulated, the rotation of bearing circle 16 can be offset the yawing rotation forming by 86,88,90,92.Therefore, bearing circle 16 is fixed on original position so that such counteracting minimizes.Thereby when bearing circle 16 is fixed on original position, the action that this has simulated driver's maintenance or has grasped bearing circle 16.Thus, bearing circle 16 being fixed on to original position allows brake equipment 80 to assist turning to of vehicle 12 with the impact of minimum bearing circle 16.
Referring to Fig. 3, the present invention also provides the method 1000 that allows autonomous land vehicle 12 turn to, and as above briefly describes.Method 1000 comprises that definite (step 1002) power steering controller 32 is in first mode and is different from the second pattern of first mode.As mentioned above, first mode can be to lead while turning to assembly 14 to be operated in the first serviceability, and the second pattern can be to lead while turning to assembly 14 to be operated in the second serviceability.Also as mentioned above, for example, when vehicle 12 is by operation in the situation that bearing circle 16 is not grasped by driver, there is the first serviceability, and the second serviceability occurs when vehicle 12 will be turned to by driver.
Method 1000 also comprises to master controller 38 transmitted signals (step 1004) and shows that power steering controller 32 is in first mode, and shows that to master controller 38 transmitted signals (step 1006) power steering controller 32 is in the second pattern.Therefore, master controller 38 continues to communicate by letter with power steering controller 32 each other, thereby master controller 38 continues to receive signal from power steering controller 32, to indicate power steering controller 32 in which pattern.Depend on power steering controller 32 is in which pattern, will determine that vehicle 12 operates in the first serviceability or the second serviceability.
At power steering controller 32, be in first mode and main while turning to assembly 14 to be operated in the first serviceability, under this state, method 1000 further comprises via master controller 38 to inferior assembly 44 transmitted signals (step 1008) that turn to, to operate in first stage in response to being in the power steering controller 32 of first mode, thereby master turns to assembly 14 to allow vehicle 12 turn to.In other words, when power steering controller 32 is in first mode, the inferior assembly 44 that turns to that is in first stage is actuated to assist master to turn to assembly 14 to allow vehicle 12 turn to alternatively.More specifically, via master controller 38, to inferior, turn to assembly 44 transmitted signals (step 1008) to operate in first stage with the power steering controller 32 in response in first mode can to comprise, via the rear steering controller 45 of communicating by letter with master controller 38 to inferior assembly 44 transmitted signals that turn to, with the power steering controller 32 in response in first mode, operate in first stage, thereby master turns to assembly 14 to allow vehicle 12 turn to.At the first serviceability, main turn to assembly 14 first to allow vehicle 12 turn to and be in alternatively first stage time turn to assembly 44 to assist, to allow vehicle 12 turn to.
And then method 1000 comprises via master controller 38 to friction gear 48 transmitted signals (step 1010), with the power steering controller 32 in response in first mode, in disengaged position, move, thereby mainly turn to the bearing circle 16 of assembly 14 rotatable.In other words, at power steering controller 32, during in first mode, friction gear 48 does not engage the main assembly 14 that turns to, thereby mainly turns to assembly 14 to allow vehicle 12 turn to.Conventionally, inferiorly turn to assembly 44 and friction gear 48 each continues communicate by letter with master controller 38, thereby the lasting transmitted signal of master controller 38 shows inferiorly to turn to assembly 44 should operate in which and which position friction gear 48 should run in stage.When in first stage and when power steering controller 32 remains on first mode, time turn to assembly 44 to be deactivated or to enable.And then friction gear 48 remains on disengaged position when power steering controller 32 remains on first mode.
At the inferior assembly 44 that turns to, when first stage and friction gear 48 are in disengaged position, bearing circle 16 is rotatable.Briefly, when friction gear 48 is in disengaged position, bearing circle 16 can freely or without restriction rotate around longitudinal axis 18.Thereby when power steering controller 32 is in first mode, master turns to assembly 14 to operate in the first serviceability, thereby vehicle 12 is not diverted in the situation that driver grasps bearing circle 16, when in first stage, time turns to assembly 44 to assist alternatively to lead and turn to assembly 14.Therefore, for example, assist the motion of main rack and pinion system 50 at electrical motor 56, and while assisting thus the rotation of bearing circle 16, power steering controller 32 will remain on that first mode and vehicle 12 drive to its destination by continuing and the manual steering that there is no driver.
At master controller 38, be sent out signal and shown that power steering controller 32 is in the second pattern and main while turning to assembly 14 to be operated in the second serviceability, under this state, power steering controller 32 is switched to the second pattern from first mode.For example, power steering controller 32 can not actuated into while allowing 50 motion of main rack and pinion system and be switched to the second pattern from first mode at electrical motor 56.In other words, the second pattern can exist while interrupting and occur in the power steering of vehicle 12, and for example master turns to the interruption in assembly 14.Therefore,, when power steering controller 32 is in the second pattern, driver manually allows vehicle 12 turn to, as mentioned below.Conventionally, first mode occurred before the second pattern.
Method 1000 further comprises via master controller 38 to inferior assembly 44 transmitted signals (step 1012) that turn to, with the power steering controller 32 in response in the second pattern, from first stage, switch to and operate in subordinate phase, thereby the inferior assembly 44 that turns to allows vehicle 12 turn to.More specifically, via master controller 38, to inferior assembly 44 transmitted signals (step 1012) that turn to, with the power steering controller 32 in response in the second pattern, from first stage, switch to and operate in subordinate phase and can comprise, via the rear steering controller 45 of communicating by letter with master controller 38 to inferior assembly 44 transmitted signals that turn to, with the power steering controller 32 in response in the second pattern, from first stage, switch to and operate in subordinate phase, thereby the inferior assembly 44 that turns to allows vehicle 12 turn to.More specifically, in response to the power steering controller 32 in the second pattern, via rear steering controller 45, to inferior assembly 44 transmitted signals that turn to, to switch to from first stage, operate in subordinate phase and can comprise, in response to inferior assembly 44 and the power steering controller 32 in the second pattern of turning in subordinate phase, via rear steering controller 45 to actuator 46 transmitted signals, to allow 58 motions of time rack and pinion system.Therefore, as mentioned above, the inferior assembly 44 that turns to continues to communicate by letter with master controller 38, thereby master controller 38 continues transmitted signal, shows time to turn to assembly 44 should operate in first stage or subordinate phase.Therefore, method 1000 can further comprise, inferior, while turning in the first and second stages one of assembly 44, allows actuator 46 actuate (step 1014), to allow 58 motions of time rack and pinion system, with pivotable the third and fourth wheel 60,62.More specifically, actuator 46 is actuated to (step 1014) to allow time rack and pinion system 58 move into, the third and fourth wheel 60,62 pivotables can be comprised, actuator 46 is actuated, to allow time rack and pinion system 58 move into allow the third and fourth wheel 60,62 pivotables while turning to assembly 44 to be in first stage inferior, to assist the main assembly 14 that turns to allow Vehicular turn in the situation that bearing circle 16 is not grasped by driver.And then, actuator 46 is actuated to (step 1014) to allow time rack and pinion system 58 move into, the third and fourth wheel 60,62 pivotables can be comprised, actuator 46 is actuated, while turning to assembly 14 to occur to interrupt with the master at vehicle 12 and inferior, allow time rack and pinion system 58 move into while turning to assembly 44 to be in subordinate phase to allow the third and fourth wheel 60,62 pivotables.In other words, at actuator 46, be sent out signal and during in subordinate phase, actuator 46 is actuated into and is allowed 58 motions (as instructed by master controller 38) of time rack and pinion system.
Method 1000 also comprises in response to the power steering controller 32 that is in the second pattern actuates (step 1016) to engage position by friction gear 48 from disengaged position.More specifically, in response to being in the power steering controller 32 of the second pattern, friction gear 48 being actuated to (step 1016) from disengaged position can comprise to engage position, via master controller 38 to friction gear 48 transmitted signals, to actuate engage position in response to being in the power steering controller 32 of the second pattern from disengaged position.As mentioned above, friction gear 48 continues to communicate by letter with master controller 38, thereby master controller 38 continues to send signal, shows which position friction gear 48 should operate in.Conventionally, in certain embodiments, in response to the power steering controller 32 in the second pattern, via master controller 38, to inferior assembly 44 transmitted signals (step 1012) that turn to, to switch to from first stage, operate in subordinate phase and to friction gear 48 transmitted signals, to actuate engage position from disengaged position, by communicating by letter with master controller 38, side by side occur via master controller 38 in response to the power steering controller 32 in the second pattern.More specifically, in response to the inferior assembly 44 that turns in subordinate phase, via rear steering controller 45, to actuator 46 transmitted signals, to allow time rack and pinion system 58 move with the power steering controller 32 in response in the second pattern, via master controller 38, to friction gear 48 transmitted signals, to actuate engage position from disengaged position, be by side by side occurring with communicating by letter of master controller 38.
And then method 1000 is included in friction gear 48 and master is turned to assembly 14 to engage (step 1018) with friction gear 48 when engage position, so that bearing circle 16 is fixed on to original position, thereby time turn to assembly 44 to allow vehicle 12 turn to when subordinate phase.Thereby in one embodiment, at friction gear 48, turn to assembly 14 to engage (step 1018) with friction gear 48 master during in engage position and can comprise, Steering gear 20 is engaged with friction gear 48, so that bearing circle 16 is fixed on to original position.In another embodiment, at friction gear 48, turn to assembly 14 to engage (step 1018) with friction gear 48 master during in engage position and can comprise, tween drive shaft 24 is engaged with friction gear 48, so that bearing circle 16 is fixed on to original position.In another embodiment, at friction gear 48, turn to assembly 14 to engage (step 1018) with friction gear 48 master during in engage position and can comprise, steering hardware 28 is engaged with friction gear 48, so that bearing circle 16 is fixed on to original position.
As mentioned above, thus at friction gear 48 when engage position bearing circle 16 is fixed on original position, the inferior assembly 44 that turns to can allow vehicle 12 turn to.Therefore,, when actuator 46 is activated or actuates, actuator 46 moves back and forth time rack and pinion system 58, to allow vehicle 12 turn to.Owing to bearing circle 16 being actuated to carry out the moment of torsion of self-regulated, inferior, bearing circle 16 is remained on to the rotation that original position could prevent or minimize bearing circle 16 while turning to assembly 44 to operate in subordinate phase.By allowing front vehicle wheel self-regulated, at the inferior assembly 44 that turns to, operate in subordinate phase when allowing vehicle 12 turn to, the rotation of bearing circle 16 can be offset the motion of rear wheel; Therefore, bearing circle 16 is fixed on original position so that such counteracting minimizes.Thereby, original position when bearing circle 16 is fixed, this has simulated driver and has kept bearing circle 16 to allow time turning to assembly 44 to allow vehicle 12 turn in subordinate phase, contacts or grasp bearing circle 16, as mentioned below until driver is actual.Thus, at friction gear 48 in engage position and inferior while turning to assembly 44 in subordinate phase, along with the third and fourth wheel 60,62 (rear wheel) pivotables or rotate to allow vehicle 12 turn to, the first and second wheels 52,54 (front vehicle wheel) remain on certain position.
Method 1000 can further comprise that contact pickup 68 is connected to (step 1020) arrives bearing circle 16, and contact pickup 68 is communicated by letter with master controller 38.In addition, method 1000 can comprise, the contact detecting on (step 1022) bearing circle 16 via contact pickup 68 during in the second pattern at power steering controller 32.Method 1000 also can be included in power steering controller 32 and via contact pickup 68, to master controller 38 transmitted signals (step 1024), show to detect contact on bearing circle 16 when the second pattern.For example, power steering controller 32 during in the second pattern in driver's contact, when engaging or grasping bearing circle 16, contact pickup 68 detects this contact on bearing circle 16 or grasps and show that to master controller 38 transmitted signals bearing circle 16 is just being touched or is grasping.Should be understood that and can to master controller 38 transmitted signals, show the contact whether contact pickup 68 detects on bearing circle 16 by steering wheel controller 70.Therefore, via contact pickup 68, to master controller 38 transmitted signals (step 1024), show to contact detected can comprising, via steering wheel controller 70, to master controller 38 transmitted signals, show to detect on bearing circle 16 by contact pickup 68 contact.Until detect contact and be communicated to master controller 38 on bearing circle 16, the inferior assembly 44 that turns to just can remain running in subordinate phase to allow vehicle 12 turn to and friction gear 48 just can remain running in engage position.
By contact pickup 68, detect contact and driver manually taken over to vehicle 12 turn to that power steering controller 32 remains on the second pattern simultaneously time, under this state, method 1000 can comprise, at power steering controller 32 during in the second pattern, in response to the contact on bearing circle 16, via master controller 38 to inferior assembly 44 transmitted signals (step 1026) that turn to, to change to and to operate in first stage from subordinate phase to switchback.More specifically, in response to the contact on bearing circle 16, via master controller 38, to inferior assembly 44 transmitted signals (step 1026) that turn to, to change to from subordinate phase to switchback, operate in first stage and can comprise, power steering controller 32 during in the second pattern in response to the contact on bearing circle 16 via the rear steering controller 45 of communicating by letter with master controller 38 to inferior assembly 44 transmitted signals that turn to change to and to operate in first stage from subordinate phase to switchback.Even more specifically, in response to the contact on bearing circle 16, via rear steering controller 45, to inferior assembly 44 transmitted signals that turn to, to change to from subordinate phase to switchback, operate in first stage and can comprise, power steering controller 32 during in the second pattern in response to the contact on bearing circle 16 via rear steering controller 45 to actuator 46 transmitted signals, so that operation is changed to first stage from subordinate phase to switchback.Therefore, inferior, while turning to assembly 44 to switch to get back to first stage, the inferior assembly 44 that turns to is no longer mainly used in allowing vehicle 12 turn to.Thereby for example, inferior, while turning to assembly 44 to switch to get back to first stage, rear wheel assists to allow vehicle 12 turn to alternatively.
And then method 1000 can be included in power steering controller 32 and in response to the contact on bearing circle 16, friction gear 48 be actuated to (step 1028) from engage position get back to disengaged position when the second pattern.More specifically, in response to the contact on bearing circle 16, friction gear 48 being actuated to (step 1028) from engage position gets back to disengaged position and can comprise, at power steering controller 32 during in the second pattern, in response to the contact on bearing circle 16, via master controller 38 to friction gear 48 transmitted signals, to actuate and to get back to disengaged position from engage position.Conventionally, in certain embodiments, in response to the contact on bearing circle 16 via rear steering controller 45 to inferior turn to assembly 44 transmitted signals with from subordinate phase, switch get back to operate in first stage with in response to contacting that to get back to disengaged position be by simultaneous with communicating by letter of master controller 38 to actuate from engage position to friction gear 48 transmitted signals via master controller 38 bearing circle 16.More specifically, in response to the contact on bearing circle 16 via rear steering controller 45 to actuator 46 transmitted signals so that operation is switched and to be got back to first stage and to get back to that disengaged position is communicated by letter by master controller 38 and occur to actuate from engage position to friction gear 48 transmitted signals in response to contacting via master controller 38 bearing circle 16 from subordinate phase simultaneously.Therefore, when friction gear 48 is got back to disengaged position, the rotatable bearing circle 16 of driver to be manually to allow vehicle 12 turn to, and gets back to when first stage moves at the inferior assembly 44 that turns to, alternatively the third and fourth wheel 60,62 can pivotable to assist allowing vehicle 12 turn to.
When method 1000 can further be included in friction gear 48 and is in disengaged position, master is turned to assembly 14 and friction gear 48 to throw off (step 1030), to allow bearing circle 16 rotations while turning to assembly 44 to turn back to operate in first stage inferior.Thereby in one embodiment, turning to assembly 14 to throw off (step 1030) with friction gear 48 master can comprise, when friction gear 48 is in disengaged position, Steering gear 20 and friction gear 48 thrown off, to allow bearing circle 16 rotations while turning to assembly 44 to turn back to operate in first stage inferior.In another embodiment, turn to assembly 14 and friction gear 48 to throw off when (step 1030) can be included in friction gear 48 and be in disengaged position master tween drive shaft 24 and friction gear 48 are thrown off, to allow bearing circle 16 rotations while turning to assembly 44 to turn back to operate in first stage inferior.In another embodiment, turning to assembly 14 to throw off (step 1030) with friction gear 48 master can comprise, when friction gear 48 is in disengaged position, steering hardware 28 and friction gear 48 are thrown off, to allow bearing circle 16 rotations while turning to assembly 44 to turn back to operate in first stage inferior.Therefore, as mentioned above, when friction gear 48 is in a disengaged position, driver can allow bearing circle 16 rotations manually to allow vehicle 12 turn to power steering controller 32 simultaneously to remain on the second pattern.Thereby the first and second wheel 52,54 pivotables when driver manually allows vehicle 12 turn to bearing circle 16, and the third and fourth wheel 60,62 can assist to allow vehicle 12 turn to alternatively when inferior steering assembly operates in first stage.
Alternatively, method 1000 can be further in response to the power steering controller 32 in first mode via master controller 38 to brake equipment 80 transmitted signals (step 1032), to operate in for the first deboost phase.Therefore, conventionally, thereby brake equipment 80 and master controller 38 continue to communicate by letter, the lasting transmitted signal of master controller 38 shows which deboost phase brake equipment 80 operates in.When power steering controller 32 remains on first mode, brake equipment 80 remained on for the first deboost phase.Therefore, brake equipment 80 slows down and stop vehicle 12 while allowing vehicle 12 turn to for turning to assembly 14 to operate to master, and thus, brake equipment 80 was in for the first deboost phase and power steering controller 32 is in first mode.Thereby power steering controller 32 during in first mode vehicle 12 by continuing, drive to its destination and not by driver's manual steering.
Method 1000 further comprises in response to the power steering controller 32 in the second pattern via master controller 38 alternatively to brake equipment 80 transmitted signals (step 1034), to switch optionally to operate in for the second deboost phase from the first deboost phase, thereby brake equipment 80 assistance time turn to assembly 44 to allow vehicle 12 turn to when in subordinate phase.More specifically, in response to the power steering controller 32 in the second pattern, via master controller 38, to brake equipment 80 transmitted signals (step 1034), to switch to from the first deboost phase, optionally operated in for the second deboost phase and can comprise, in response to the power steering controller 32 in the second pattern via master controller 38 to brake controller 78 transmitted signals to start brake equipment 80, to operate in for the second deboost phase.Therefore, as mentioned above, brake equipment 80 continues to communicate by letter with master controller 38, thereby master controller 38 continues transmitted signal, shows which deboost phase brake equipment 80 operates in.Should be understood that power steering controller 32 during in the second pattern brake equipment 80 may operate at for the first deboost phase.
And then method 1000 can comprise in response to the brake equipment 80 in the second deboost phase actuates one or more in (step 1036) first, second, third and the 4th drg, to assist time turning to the vehicle 12 of assembly 44 in subordinate phase to turn to.Therefore, in response to the brake equipment 80 in the second deboost phase, actuate one or more the comprising in (step 1036) first, second, third and the 4th drg 86,88,90,92, actuate one or more in the first, second, third and the 4th drg 86,88,90,92, to produce at least one yawing moment, while turning to middle generation to interrupt with the master at vehicle 12, in subordinate phase, assistance time turns to assembly 44 to allow vehicle 12 turn to.While detecting contact on bearing circle 16, brake equipment 80 changed to for the first deboost phase to switchback, thereby brake equipment 80 is no longer assisted turning to vehicle 12.Thereby for example at brake equipment 80 during in the first deboost phase, drg 86,88,90,92 can slow down or stop vehicle 12.Should be understood that to brake equipment 80 transmitted signals (step 1034) with actuate (step 1036) first, second, third and one or more in the 4th drg 86,88,90,92 can via contact pickup 68, to master controller 38 transmitted signals (step 1024), show during in the second pattern at power steering controller 32 to detect on bearing circle 16 contact before generation.
The present invention further provides the other method 2000 that allows autonomous land vehicle 12 turn to, as briefly as above.The master that method 2000 is included in vehicle 12 allows when turning to and occurring to interrupt in assembly 14 and time turns to assembly 44 operations (step 2002) in subordinate phase, to allow vehicle 12 turn to.More specifically, while occurring to interrupt in the master of vehicle 12 turns to assembly 14, operation (step 2002) inferior assembly 44 that turns to can comprise to allow vehicle 12 turn to, actuate described actuator 46, to allow 58 motions of time rack and pinion system, with the third and fourth wheel 60,62 (rear wheel) of pivotable vehicle 12, to allow vehicle 12 turn to.Briefly, when master turns to assembly 14 to occur to interrupt, the inferior assembly 44 that turns to allows vehicle 12 turn to.
Method 2000 also comprises, inferior turn to assembly 44 in subordinate phase when allowing vehicle 12 turn to, turn to assembly 14 to engage (step 2004) with friction gear 48 so that bearing circle 16 is fixed on to original position master.Therefore for example master turns to assembly 14 pivotable the first and second wheel 52,54 or front vehicle wheels, and in addition, inferior assembly 44 pivotable the third and fourth wheel 60,62 or the rear wheels that turn to.More specifically, at the inferior assembly 44 that turns to, operate in subordinate phase when allowing vehicle 12 turn to, turning to assembly 14 to engage (step 2004) with friction gear 48 master can comprise so that bearing circle 16 is fixed on to original position, one in Steering gear 20, tween drive shaft 24 and steering hardware 28 is engaged with friction gear 48, so that bearing circle 16 is fixed on to original position.Therefore, in one embodiment, turn to assembly 14 to engage (step 2004) with friction gear 48 master and can comprise Steering gear 20 is engaged with friction gear 48, so that bearing circle 16 is fixed on to original position.In another embodiment, master being turned to assembly 14 engage (step 2004) with friction gear 48 can comprise by tween drive shaft 24 and friction gear 48, so that bearing circle 16 is fixed on to original position.In another embodiment, master being turned to assembly 14 engage (step 2004) with friction gear 48 can comprise by steering hardware 28 and friction gear 48, so that bearing circle 16 is fixed on to original position.
Should be understood that the order of the manner of execution 1000,2000 shown in the diagram of circuit of Fig. 3 and 4 or order are for the object of showing and other orders or order also within the scope of the invention.For example, contact pickup 68 is connected to (step 1020) and can determine (step 1002) power steering controller 32 in first mode and generation before being different from the second pattern of first mode to bearing circle 16.Should also be understood that method 1000,2000 can comprise other features that do not specifically illustrate in the diagram of circuit of Fig. 3 and 4.In addition, method 2000 can comprise the feature of method 1000, for example determine in first mode and the second pattern one of power steering controller 32, master controller 38 can transmitted signal and is sent out signal, the inferior assembly 44 that turns to can transmitted signal and be sent out signal, friction gear 48 can be sent out signal and be actuated, contact pickup 68 can be connected to bearing circle 16 and detection/transmitted signal, master turns to assembly 14 to be thrown off, brake equipment 80 and brake controller 78 each can transmitted signal and be sent out signal, etc.
Although carried out detailed description to carrying out better model of the present invention, it is routine that those skilled in the art can learn that being used in the scope of appended claim implemented many replacement design and implementations of the present invention.

Claims (10)

1. for a steering swivel system for autonomous land vehicle, this system comprises:
Master turns to assembly, comprises rotatable bearing circle;
Power steering controller, turns to assembly to communicate by letter and has first mode and the second pattern with main;
Master controller, communicates by letter with power steering controller;
The inferior assembly that turns to; communicate by letter with master controller, thereby master controller sends signal to the inferior assembly that turns to, to operate in first stage when power steering controller is in first mode; with when power steering controller is in the second pattern, operate in subordinate phase operation, to allow Vehicular turn; With
Friction gear, be connected to and main turn to assembly and to discharge the main assembly that turns to movable bearing circle is fixed between the engage position of original position to allow the disengaged position of bearing circle rotation and to engage the main assembly that turns to, wherein master controller is communicated by letter with friction gear, with power steering controller in first mode and inferior while turning to assembly in first stage to friction gear transmitted signal to actuate disengaged position, with power steering controller in the second pattern and inferior turn to assembly in subordinate phase when allowing time to turn to assembly by Vehicular turn to friction gear transmitted signal to actuate engage position, so that bearing circle is fixed on to original position.
2. the system as claimed in claim 1, wherein leads and turns to assembly to comprise rotatable Steering gear, and bearing circle is attached to Steering gear, thereby bearing circle and Steering gear rotate jointly.
3. system as claimed in claim 2, wherein friction gear is connected to Steering gear, thus when engage position, friction gear engages Steering gear, so that bearing circle is fixed on to original position.
4. system as claimed in claim 2, wherein leads and turn to assembly to comprise the tween drive shaft that is operatively connected to Steering gear, thereby tween drive shaft and Steering gear rotates jointly.
5. system as claimed in claim 4, wherein friction gear is connected to tween drive shaft, thus when engage position, friction gear engages tween drive shaft, so that bearing circle is fixed on to original position.
6. system as claimed in claim 4, wherein leads and turns to assembly to comprise the steering hardware that is operatively connected to tween drive shaft, and tween drive shaft is arranged between steering hardware and Steering gear.
7. system as claimed in claim 6, wherein friction gear is connected to steering hardware, thus when engage position, friction gear engages steering hardware, so that bearing circle is fixed on to original position.
8. system as claimed in claim 6, wherein master turns to assembly to comprise main rack and pinion system, it is operatively connected to steering hardware and extends outwardly into reciprocal far-end, the first wheel and the second wheel are operatively connected to the respective distal end of main rack and pinion system, and wherein, steering hardware comprises electrical motor, with power steering controller during in first mode in response to bearing circle allow the first and second wheel pivotables and allow Vehicular turn rotation and assist main rack and pinion system motion, wherein power steering controller is communicated by letter with this electrical motor.
9. the system as claimed in claim 1, wherein time turn to assembly to communicate by letter with master controller by rear steering controller, and wherein time turn to assembly to comprise the actuator of communicating by letter with rear steering controller, thereby rear steering controller is to actuator transmitted signal, to operate in first stage and operate in subordinate phase when power steering controller is in first mode when power steering controller is in the second pattern.
10. system as claimed in claim 9, wherein time turn to assembly to comprise to extend outwardly into the inferior rack and pinion system of reciprocal far-end, the 3rd wheel and the 4th wheel are operatively connected to the respective distal end of time rack and pinion system, and actuator is operatively connected to time rack and pinion system, thereby inferior turn to assembly in subordinate phase and power steering controller during in the second pattern actuating of actuator allow time rack and pinion system motion, to allow the third and fourth wheel pivotable, to allow Vehicular turn.
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US20140277893A1 (en) 2014-09-18

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